Fix reversed impulse pathfinding bug

src/Dodge/Creature/Action.hs

@@ -62,17 +62,17 @@ performAimAt cr w tcid p = ([TurnToward tpos aimSp], Just $ AimAt tcid tpos)
 performPathTo :: Creature -> World -> Point2 -> OutAction
 performPathTo cr w p
     | dist cpos p <= crRad (cr ^. crType) = ([], Nothing)
-    | isWalkable cpos p w = ([MvTurnToward p, MvForward, RandomTurn jit], Just (PathTo p))
-    | otherwise = case pointTowardsImpulse p cpos w of
+    | isWalkable cpos p w = ([MvTurnToward 0 cpos p p, MvForward, RandomTurn jit], Just (PathTo p))
+    | otherwise = case pointTowardsImpulse cpos p w of
         Just q ->
             (
-                [ MvTurnToward q
+                [ MvTurnToward 1 cpos p q
                 , MvForward
                 , RandomTurn jit
                 ]
             , Just (PathTo p)
             )
-        _ -> ([], Nothing)
+        _ -> ([ChangeStrategy Flee], Nothing)
   where
     cpos = cr ^. crPos . _xy
     jit = _mvTurnJit $ crMvType cr
@@ -80,7 +80,7 @@ performPathTo cr w p
 performTurnToA :: Creature -> Point2 -> OutAction
 performTurnToA cr p
     | angleVV cdirv dirv < 0.1 = ([], Nothing)
-    | otherwise = ([MvTurnToward p, RandomTurn jit], Just (TurnToPoint p))
+    | otherwise = ([MvTurnToward 2 p p p, RandomTurn jit], Just (TurnToPoint p))
   where
     cpos = cr ^. crPos . _xy
     cdirv = unitVectorAtAngle (_crDir cr)

src/Dodge/Creature/Impulse.hs

@@ -67,7 +67,7 @@ followImpulse cr w imp = case imp of
         tcr <- w ^? cWorld . lWorld . creatures . ix i
         return $ followImpulse cr w (doCrImp f tcr)
     MvForward -> crup $ crMvForward speed (w ^. cWorld . lWorld) cr
-    MvTurnToward p ->
+    MvTurnToward _ _ _ p ->
         crup $
             creatureTurnToward p (turnRad $ safeAngleVV (p -.- cpos) (unitVectorAtAngle cdir)) cr
   where

src/Dodge/Creature/ReaderUpdate.hs

@@ -119,7 +119,6 @@ flockACC w cr = fromMaybe cr $ do
 
 chaseCritMv :: World -> Creature -> Creature
 chaseCritMv w cr = case _apStrategy (_crActionPlan cr) of
-    StrategyActions _ _ -> cr
     WarningCry -> cr
     MeleeStrike -> cr
     CloseToMelee cid

src/Dodge/Data/ActionPlan.hs

@@ -31,7 +31,7 @@ data Impulse
     | RandomTurn Float
     | RandomImpulse RandImpulse -- (State StdGen Impulse)
     | TurnToward Point2 Float
-    | MvTurnToward Point2
+    | MvTurnToward Int Point2 Point2 Point2 -- the Int is just a label
     | MvForward
     | TurnTo Point2
     | UseItem

src/Dodge/Data/Creature.hs

@@ -78,6 +78,7 @@ data Intention = Intention
     , _mvToPoint :: Maybe Point2
     , _viewPoint :: Maybe Point2
     }
+    deriving (Show)
 
 --deriving (Eq, Show, Read) --Generic, Flat)
 

src/Dodge/Debug.hs

@@ -153,6 +153,7 @@ drawCrInfo u = foldMap f . IM.elems $ w ^. cWorld . lWorld . creatures
                 , g "crAction" $ cr ^? crActionPlan . apAction
                 , g "crImpulse" $ cr ^? crActionPlan . apImpulse
                 , g "crName" $ cr ^? crName
+                , g "crIntention" $ cr ^? crIntention
                 ]
 
 setClip :: String -> Universe -> Universe

src/Dodge/Debug/Picture.hs

@@ -209,7 +209,7 @@ drawPathBetween u = concat $ do
     let nodepos = (`getNodePos` w)
         nodelist = makePathBetween sp ep w
     return . setLayer DebugLayer $
-        color rose (foldMap (arrowPath . mapMaybe nodepos) nodelist)
+             color rose (foldMap (arrowPath . mapMaybe nodepos) nodelist)
             <> drawCrossCol green sp
             <> drawCrossCol cyan ep
             <> foldMap (color green . arrow sp) (nodepos =<< walkableNodeNear w sp)

src/Dodge/Room/Tutorial.hs

@@ -247,7 +247,8 @@ tutHub = do
             . (rmInPmnt .:~ (0, a))
             . addDoorAtNthLinkToggleTerminal 1 ss j
             =<< roomNgon 6 100
-    bcor <- treeAttachDeep (return door) <$> blockedCorridor
+    --bcor <- treeAttachDeep (return door) <$> blockedCorridor
+    bcor <- treeAttachDeep (return door) <$> return (return $ cleatOnward door)
     r1 <- r burstRifle <&> rmPmnts .:~ t
     r2 <- r (drumMag & itConsumables ?~ 90)
     --r2 <- r (tinMag & itConsumables ?~ 500)